CN109018346B - Intelligent food delivery system based on unmanned aerial vehicle - Google Patents
Intelligent food delivery system based on unmanned aerial vehicle Download PDFInfo
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- CN109018346B CN109018346B CN201810872616.6A CN201810872616A CN109018346B CN 109018346 B CN109018346 B CN 109018346B CN 201810872616 A CN201810872616 A CN 201810872616A CN 109018346 B CN109018346 B CN 109018346B
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- unmanned aerial
- aerial vehicle
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- clamping
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- 235000013305 food Nutrition 0.000 title claims abstract description 20
- 235000003166 Opuntia robusta Nutrition 0.000 claims abstract description 97
- 244000218514 Opuntia robusta Species 0.000 claims abstract description 97
- 238000013016 damping Methods 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000001125 extrusion Methods 0.000 claims description 9
- 235000012054 meals Nutrition 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 239000013013 elastic material Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000005489 elastic deformation Effects 0.000 claims description 5
- 230000017525 heat dissipation Effects 0.000 claims description 5
- 230000002035 prolonged effect Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000002390 adhesive tape Substances 0.000 description 13
- 238000005452 bending Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle application, and particularly relates to an intelligent food delivery system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a controller, a damping module, a mounting plate, a supporting plate, a double-shaft motor, a ball screw, a sliding block, a polished rod and a clamping jaw, wherein two rotating shafts of the double-shaft motor are fixedly connected with the ends of the ball screws in two different rotation directions respectively; the lower end of the sliding block is connected with the polished rod in a sliding manner, and the upper end of the sliding block is connected with the ball screw through a screw nut pair; the lower end of the sliding block is fixedly connected with the upper end of the clamping jaw; the clamping jaws are used for clamping the dinner plate; according to the invention, the shock-absorbing sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle, and the springs are arranged in the central holes of the shock-absorbing sleeves, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in the dinner plate is prevented from being scattered in the transportation process; the ball screws in different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle application, and particularly relates to an intelligent food delivery system based on an unmanned aerial vehicle.
Background
An unmanned aerial vehicle, abbreviated as "unmanned aerial vehicle" ("UAV"), is an unmanned aerial vehicle that is operated using a radio remote control device and a self-contained program control device.
In recent years, research and development and investment on unmanned aerial vehicles are increased in all countries, the technology and performance of the unmanned aerial vehicles are greatly improved, the application range of the unmanned aerial vehicles is expanded, the unmanned aerial vehicles can be used for self-shooting, goods delivery, aerial photography and goods delivery, but the unmanned aerial vehicles are outdoor, the indoor application is rare, at present, some restaurants use the unmanned aerial vehicles for food delivery, the special servers fly under the control of infrared sensing systems installed in the restaurants, and fly over from the tops of customers to deliver food according to flight routes set by computers, and the machine servers are high in working efficiency, safe and reliable.
However, current food delivery unmanned aerial vehicle has some problems when facilitating, if customer gets meal slower, unmanned aerial vehicle need be long-time in front of the dining table and stagnates, can't wait for the customer under the shutdown state and get meal, can cause very big inconvenience: on one hand, the power is consumed, the weight of the meal delivery unmanned aerial vehicle needs to be reduced in order to meet the requirement of carrying food, the capacity of a generally designed battery is small, the charging times of the unmanned aerial vehicle are increased due to power waste, and the utilization rate of the unmanned aerial vehicle is reduced; on the other hand, when the unmanned aerial vehicle flies in the air, the flying height is parallel to the dining table, the flying height is lower, the flow rate of people in a restaurant is larger, the blades are easy to hurt customers, and the airflow generated by the blades can influence the dining experience of the customers; moreover, when the customer was getting meal, the last bearing weight of unmanned aerial vehicle and focus change suddenly can cause unmanned aerial vehicle flight state unstable, takes place food and spills.
Disclosure of Invention
In order to make up the defects of the prior art, the intelligent food delivery system based on the unmanned aerial vehicle, provided by the invention, has the advantages that the group of damping sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle, and the springs are arranged in the central holes of the damping sleeves, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in the dinner plate is prevented from being scattered in the transportation process; the ball screws with different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate; the dinner plate is conveyed to the dinner plate placing point beside the dining table, the double-shaft motor drives the clamping jaws to put down the dinner plate, and power consumption generated by the unmanned aerial vehicle when the dinner plate is waited to be taken is reduced.
The technical scheme adopted by the invention for solving the technical problems is as follows: the intelligent food delivery system based on the unmanned aerial vehicle comprises the unmanned aerial vehicle, wherein the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle; the unmanned aerial vehicle is characterized by further comprising a controller, a damping module, a mounting plate, a supporting plate, a double-shaft motor, a ball screw, a sliding block, a polished rod and a clamping jaw, wherein the controller is arranged at the upper end of the unmanned aerial vehicle; the controller is used for realizing communication between the unmanned aerial vehicle and external equipment; the unmanned aerial vehicle is connected with the mounting plate through the damping module; the damping module is used for preventing the vibration of the unmanned aerial vehicle during flying from being transmitted to the mounting plate; the middle part of the bottom surface of the mounting plate is fixedly connected with a double-shaft motor; one rotating shaft of the double-shaft motor is fixedly connected with the end of the ball screw which rotates forwards, and the other rotating shaft of the double-shaft motor is fixedly connected with the end of the ball screw which rotates backwards; the other end of the ball screw is respectively and rotatably arranged in the middle of the supporting plates at the left side and the right side, and two polished rods arranged in parallel are fixedly connected between the two supporting plates; the lower end of the sliding block is connected with the polished rod in a sliding manner, the upper end of the sliding block is connected with a ball screw through a screw nut pair, the sliding block with a forward thread is arranged on the forward-rotating ball screw, and the sliding block with a reverse thread is arranged on the reverse-rotating ball screw; the lower end of the sliding block is fixedly connected with the upper end of the clamping jaw; the clamping jaws are used for clamping the dinner plate; during operation, after the controller received the food delivery signal of external equipment transmission, the slider that biax motor drove biax motor both sides through the different ball that revolve to was close to, and then drives the jack catch on the slider and carries out the centre gripping dinner plate, and the centre gripping is stable after, and unmanned aerial vehicle starts to send the dinner plate to appointed position according to appointed flight route, finally realize using unmanned aerial vehicle to send the meal.
Preferably, the damping module comprises a damping sleeve and a spring, and a group of damping sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle; the damping sleeve is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve, and a spring is arranged in the central hole of the damping sleeve; the spring is used for connecting a bottom plate and a mounting plate of the unmanned aerial vehicle; the during operation, when unmanned aerial vehicle upwards accelerated, the spring was stretched, and the spring has absorbed the impact force that unmanned aerial vehicle upward movement produced, and when the spring rebounded, unmanned aerial vehicle's bottom plate and mounting panel extrusion shock attenuation cover through the reaction force of shock attenuation cover absorption spring, and then have guaranteed that the food in the dinner plate can not spill in the transportation.
Preferably, an elastic rubber strip is supported on the arc corners at the lower ends of the claws; two ends of the elastic rubber strip are hung on the arc corners of the clamping jaws through the inverse buckles; the arc corner at the lower end of the clamping jaw has certain elasticity; when the clamping jaw is driven by the motor to clamp the dinner plate, the elastic rubber strip is extruded and deformed after contacting with the outer wall of the dinner plate, the elastic rubber strip is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaw reaches a set value, the double-shaft motor stops rotating and is locked; the jack catch tip sets up the elastic adhesive tape on the one hand and makes jack catch and dinner plate laminate completely, and then has guaranteed the reliability of centre gripping, and on the other hand passes through the elastic deformation of elastic adhesive tape and jack catch lower extreme circular arc angle, can realize the different size dinner plate of centre gripping, and then has widened the application range of jack catch.
Preferably, a group of vertical V-shaped grooves is arranged on the clamping surface of the elastic rubber strip; during operation, set up a V-arrangement groove on the clamping face of elasticity adhesive tape, make the elasticity adhesive tape warp more easily on the one hand, guaranteed that elasticity adhesive tape and dinner plate can laminate completely, on the other hand V-arrangement groove helps the heat dissipation, and then improves the life of elasticity adhesive tape.
Preferably, a driving block is arranged at the lower end of the clamping jaw close to the edge of the dinner plate; one end of the driving block is hinged to the clamping jaw, a torsion spring is arranged at the hinged position of the driving block, the other end of the driving block can be in contact with the side wall of the dinner plate, a pressing block is arranged above the driving block, and the driving block and the pressing block are in meshing transmission through a section of gear teeth; one end of the pressing block is hinged to the clamping jaw, and the other end of the pressing block can contact the inner wall of the dinner plate; the during operation makes the jack catch carry out the centre gripping to the dinner plate through motor drive, and the cambered surface of the border extrusion drive block upper end of dinner plate makes the drive block swing around articulated department, and then drives the compact heap through the meshing of the teeth of a cogwheel and swing simultaneously, and then realizes carrying out the centre gripping to the border of dinner plate, and the centre gripping process of drive block and compact heap is realized at the in-process of biax motor drive jack catch centre gripping dinner plate lateral wall, therefore the centre gripping is efficient, and simple structure, stability.
Preferably, a group of strip-shaped bulges are arranged on the binding surface of the driving block and the dinner plate; the cross section of each strip-shaped bulge is semi-elliptical, the shape of the strip-shaped bulge is larger at the position, which is closer to the hinge joint of the driving block, and the strip-shaped bulge is made of elastic material; the during operation, dinner plate extrusion drive block, drive block swing around articulated department, and the protruding dinner plate of extrusion of strip on the drive block, strip arch are extruded and are out of shape, realize the centre gripping of dinner plate, and the strip arch of gradual change has guaranteed the effective laminating with the dinner plate, and fine radiating effect can be guaranteed again to the interval between the strip arch simultaneously, and then has improved the bellied life of strip.
Preferably, one side of the strip-shaped bulge, which is close to the driving block, is provided with a group of second-number V-shaped grooves; when the device works, one side of each strip-shaped bulge is provided with a group of second-number V-shaped grooves, so that the internal stress of the strip-shaped bulges after bending is reduced, and the service life of the strip-shaped bulges is prolonged.
The invention has the following beneficial effects:
1. according to the invention, the shock-absorbing sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle, and the springs are arranged in the central holes of the shock-absorbing sleeves, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in the dinner plate is prevented from being scattered in the transportation process; the ball screws in different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate.
2. According to the invention, the elastic rubber strip is arranged on the arc corner at the lower end of the clamping jaw, so that the clamping jaw and the dinner plate can be completely attached to each other, the clamping reliability is further ensured, and the dinner plates with different sizes can be clamped through the elastic rubber strip and the elastic deformation of the arc corner at the lower end of the clamping jaw, and the use range of the clamping jaw is further widened.
3. According to the invention, the driving block is arranged at the position, close to the edge of the dinner plate, of the lower end of the clamping jaw, the pressing block is arranged above the driving block, the edge of the dinner plate is clamped, and meanwhile, the clamping process of the driving block and the pressing block is realized in the process that the clamping jaw is driven by the double-shaft motor to clamp the side wall of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable.
4. According to the invention, the binding surface of the driving block and the dinner plate is provided with the group of strip-shaped bulges, so that the dinner plate is clamped, the gradually changed strip-shaped bulges ensure effective binding with the dinner plate, and meanwhile, the intervals among the strip-shaped bulges can ensure good heat dissipation effect, so that the service life of the strip-shaped bulges is prolonged.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic structural view of the shock-absorbing housing according to the present invention;
FIG. 3 is a cross-sectional view taken at A-A of FIG. 1;
FIG. 4 is an enlarged view at B in FIG. 1;
in the figure: unmanned aerial vehicle 1, controller 2, shock-absorbing module 3, shock-absorbing sleeve 31, mounting panel 4, backup pad 41, double-shaft motor 5, ball 6, slider 7, polished rod 8, jack catch 9, circular arc angle 91, elasticity adhesive tape 92, a V-shaped groove 921, drive block 93, strip arch 931, No. two V-shaped grooves 932, compact heap 94.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 4, the intelligent meal delivery system based on the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, wherein the unmanned aerial vehicle 1 is a multi-rotor unmanned aerial vehicle; the unmanned aerial vehicle is characterized by further comprising a controller 2, a damping module 3, a mounting plate 4, a supporting plate 41, a double-shaft motor 5, a ball screw 6, a sliding block 7, a polished rod 8 and a clamping jaw 9, wherein the controller 2 is arranged at the upper end of the unmanned aerial vehicle 1; the controller 2 is used for realizing communication between the unmanned aerial vehicle 1 and external equipment; the unmanned aerial vehicle 1 is connected with the mounting plate 4 through the damping module 3; the damping module 3 is used for preventing the vibration of the unmanned aerial vehicle 1 during flying from being transmitted to the mounting plate 4; the middle part of the bottom surface of the mounting plate 4 is fixedly connected with a double-shaft motor 5; one rotating shaft of the double-shaft motor 5 is fixedly connected with the end of the ball screw 6 which rotates forwards, and the other rotating shaft of the double-shaft motor 5 is fixedly connected with the end of the ball screw 6 which rotates backwards; the other end of the ball screw 6 is respectively and rotatably arranged in the middle of the supporting plates 41 at the left side and the right side, and two polished rods 8 arranged in parallel are fixedly connected between the two supporting plates 41; the lower end of the sliding block 7 is connected with a polished rod 8 in a sliding manner, the upper end of the sliding block 7 is connected with a ball screw 6 through a screw-nut pair, the sliding block 7 with a forward thread is arranged on the forward-rotating ball screw 6, and the sliding block 7 with a reverse thread is arranged on the reverse-rotating ball screw 6; the lower end of the sliding block 7 is fixedly connected with the upper end of the clamping jaw 9; the clamping claws 9 are used for clamping the dinner plate; during operation, after controller 2 received the food delivery signal of external equipment transmission, biax motor 5 drove the slider 7 of biax motor 5 both sides through the ball 6 of different turning and is close to, and then drives jack catch 9 on the slider 7 and carries out the centre gripping dinner plate, and the centre gripping is stable after, and unmanned aerial vehicle 1 starts to according to appointed flight route with the dinner plate send appointed position, finally realize using unmanned aerial vehicle 1 to send the meal.
As an embodiment of the present invention, the damping module 3 includes a damping sleeve 31 and a spring, and a group of damping sleeves 31 is disposed between the bottom plate and the mounting plate 4 of the unmanned aerial vehicle 1; the damping sleeve 31 is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve 31, and a spring is arranged in the central hole of the damping sleeve 31; the spring is used for connecting a bottom plate of the unmanned aerial vehicle 1 and the mounting plate 4; the during operation, when unmanned aerial vehicle 1 upwards accelerates, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle 1 upward movement produced, and when the spring rebounds, unmanned aerial vehicle 1's bottom plate and 4 extrusion shock sleeves 31 of mounting panel, through the reaction force of shock sleeves 31 absorption spring, and then guaranteed that the food in the dinner plate can not spill in the transportation.
As an embodiment of the present invention, an elastic rubber strip 92 is supported on the arc corner 91 at the lower end of the claw 9; the two ends of the elastic rubber strip 92 are hung on the arc corners 91 of the claws 9 through back-off; the arc corners 91 at the lower ends of the claws 9 have certain elasticity; when the automatic dinner plate clamping device works, the clamping jaw 9 clamps a dinner plate through motor driving, the elastic rubber strip 92 is extruded and deformed after contacting with the outer wall of the dinner plate, the elastic rubber strip 92 is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaw 9 reaches a set value, the double-shaft motor 5 stops rotating and is locked; the jack catch 9 tip sets up elasticity adhesive tape 92 and makes jack catch 9 and dinner plate laminate completely on the one hand, and then has guaranteed the reliability of centre gripping, and on the other hand passes through the elastic deformation of elasticity adhesive tape 92 and jack catch 9 lower extreme circular arc angle 91, can realize the different size dinner plate of centre gripping, and then has widened the application range of jack catch 9.
As an embodiment of the present invention, a group of vertical first V-shaped grooves 921 is disposed on the clamping surface of the elastic rubber strip 92; during operation, set up a V-arrangement groove 921 on the clamping face of elasticity adhesive tape 92, make elasticity adhesive tape 92 warp more easily on the one hand, guaranteed that elasticity adhesive tape 92 can laminate completely with the dinner plate, on the other hand V-arrangement groove 921 helps the heat dissipation, and then improves elasticity adhesive tape 92's life.
As an embodiment of the invention, a driving block 93 is arranged at the lower end of the claw 9 close to the edge of the dinner plate; one end of the driving block 93 is hinged to the jaw 9, a torsion spring is arranged at the hinged position of the driving block 93, the other end of the driving block 93 can be in contact with the side wall of the dinner plate, a pressing block 94 is arranged above the driving block 93, and the driving block 93 and the pressing block 94 are in meshing transmission through a section of gear teeth; one end of the pressing block 94 is hinged on the clamping jaw 9, and the other end of the pressing block 94 can contact the inner wall of the dinner plate; during operation makes jack catch 9 carry out the centre gripping to the dinner plate through motor drive, the cambered surface of the border extrusion drive block 93 upper end of dinner plate makes drive block 93 swing around articulated department, and then drives compact heap 94 through the meshing of the teeth of a cogwheel and swing simultaneously, and then realizes carrying out the centre gripping to the border of dinner plate, the centre gripping process of drive block 93 and compact heap 94 is realized at the in-process of 5 drive jack catches 9 centre gripping dinner plate lateral walls of double-shaft motor, therefore the centre gripping is efficient, and simple structure, it is stable.
As an embodiment of the present invention, a set of strip-shaped protrusions 931 is disposed on a binding surface of the driving block 93 and the dinner plate; the cross section of the strip-shaped protrusion 931 is semi-elliptical, the shape of the strip-shaped protrusion 931 is larger as the strip-shaped protrusion 931 is closer to the hinge joint of the driving block 93, and the strip-shaped protrusion 931 is made of elastic material; the during operation, dinner plate extrusion drive block 93, drive block 93 swings around articulated department, and the protruding 931 extrusion dinner plate of strip on the drive block 93, the protruding 931 of strip is extruded and is out of shape, realizes the centre gripping of dinner plate, and the protruding 931 of strip of gradual change has guaranteed the effective laminating with the dinner plate, and fine radiating effect can be guaranteed again to the interval between the protruding 931 of strip simultaneously, and then has improved the life of the protruding 931 of strip.
As an embodiment of the present invention, a set of No. two V-shaped grooves 932 is disposed on one side of the strip-shaped protrusion 931 close to the driving block 93; during operation, a group of second V-shaped grooves 932 are formed in one side of the strip-shaped protrusions 931, so that internal stress of the strip-shaped protrusions 931 after bending is reduced, and service life of the strip-shaped protrusions 931 is prolonged.
When the automatic dinner plate clamping device works, after the controller 2 receives a dinner sending signal transmitted by external equipment, the double-shaft motor 5 drives the sliding blocks 7 on two sides of the double-shaft motor 5 to be close through the ball screws 6 with different rotation directions, so that the clamping jaws 9 on the sliding blocks 7 are driven to clamp a dinner plate, the elastic rubber strip 92 is extruded and deformed after contacting the outer wall of the dinner plate, the elastic rubber strip 92 is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaws 9 reaches a set value, the double-shaft motor 5 stops rotating and is locked; the elastic rubber strip 92 arranged at the end part of the clamping jaw 9 enables the clamping jaw 9 to be completely attached to the dinner plate, so that the clamping reliability is guaranteed, and the dinner plates with different sizes can be clamped through the elastic rubber strip 92 and the elastic deformation of the arc corner 91 at the lower end of the clamping jaw 9, so that the use range of the clamping jaw 9 is widened; meanwhile, the edge of the dinner plate extrudes the cambered surface at the upper end of the driving block 93, so that the driving block 93 swings around the hinged position, the pressing block 94 is driven to swing simultaneously through gear tooth meshing, the strip-shaped protrusions 931 on the driving block 93 extrude the dinner plate, the strip-shaped protrusions 931 are extruded and deformed, the dinner plate is clamped, the gradually-changed strip-shaped protrusions 931 ensure effective fit with the dinner plate, meanwhile, the intervals among the strip-shaped protrusions 931 can ensure a good heat dissipation effect, and the service life of the strip-shaped protrusions 931 is prolonged; the clamping process of the driving block 93 and the pressing block 94 is realized in the process that the double-shaft motor 5 drives the clamping jaws 9 to clamp the side walls of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable; after the clamping is stable, the unmanned aerial vehicle 1 is started, and the dinner plate is sent to a specified position according to a specified flight route, and finally the unmanned aerial vehicle 1 is used for sending the dinner plate; when unmanned aerial vehicle 1 upwards accelerates, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle 1 upward movement produced, and when the spring rebounded, unmanned aerial vehicle 1's bottom plate and mounting panel 4 extruded shock attenuation cover 31, through the reaction force of shock attenuation cover 31 absorption spring, and then guaranteed that the food in the dinner plate can not spill in the transportation.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. An intelligent meal delivery system based on an unmanned aerial vehicle comprises the unmanned aerial vehicle (1), wherein the unmanned aerial vehicle (1) is a multi-rotor unmanned aerial vehicle; the method is characterized in that: the unmanned aerial vehicle is characterized by further comprising a controller (2), a damping module (3), a mounting plate (4), a support plate (41), a double-shaft motor (5), a ball screw (6), a sliding block (7), a polished rod (8) and a clamping jaw (9), wherein the controller (2) is arranged at the upper end of the unmanned aerial vehicle (1); the controller (2) is used for realizing communication between the unmanned aerial vehicle (1) and external equipment; the unmanned aerial vehicle (1) is connected with the mounting plate (4) through the damping module (3); the damping module (3) is used for preventing the vibration of the unmanned aerial vehicle (1) during flying from being transmitted to the mounting plate (4); the middle part of the bottom surface of the mounting plate (4) is fixedly connected with a double-shaft motor (5); one rotating shaft of the double-shaft motor (5) is fixedly connected with the end of the ball screw (6) which rotates forwards, and the other rotating shaft of the double-shaft motor (5) is fixedly connected with the end of the ball screw (6) which rotates backwards; the other end of the ball screw (6) is respectively and rotatably arranged in the middle of the supporting plates (41) at the left side and the right side, and two polished rods (8) arranged in parallel are fixedly connected between the two supporting plates (41); the lower end of the sliding block (7) is connected with the polished rod (8) in a sliding mode, the upper end of the sliding block (7) is connected with the ball screw (6) through a screw-nut pair, the sliding block (7) with the forward-rotating threads is installed on the forward-rotating ball screw (6), and the sliding block (7) with the reverse-rotating threads is installed on the reverse-rotating ball screw (6); the lower end of the sliding block (7) is fixedly connected with the upper end of the clamping jaw (9); the clamping jaws (9) are used for clamping the dinner plate;
the damping module (3) comprises a damping sleeve (31) and a spring, and a group of damping sleeves (31) are arranged between a bottom plate of the unmanned aerial vehicle (1) and the mounting plate (4); the damping sleeve (31) is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve (31), and a spring is arranged in the central hole of the damping sleeve (31); the spring is used for connecting a bottom plate and a mounting plate (4) of the unmanned aerial vehicle (1);
an elastic rubber strip (92) is supported on the arc corner (91) at the lower end of the claw (9); the two ends of the elastic rubber strip (92) are hung on the arc corners (91) of the claws (9) through back-off; the arc corners (91) at the lower ends of the clamping jaws (9) have certain elasticity;
a group of vertical first V-shaped grooves (921) are arranged on the clamping surface of the elastic rubber strip (92);
a driving block (93) is arranged at the lower end of the claw (9) close to the edge of the dinner plate; one end of the driving block (93) is hinged to the jaw (9), a torsion spring is arranged at the hinged position of the driving block (93), the other end of the driving block (93) can be in contact with the side wall of the dinner plate, a pressing block (94) is arranged above the driving block (93), and the driving block (93) and the pressing block (94) are in meshing transmission through a section of gear teeth; one end of the pressing block (94) is hinged to the clamping jaw (9), and the other end of the pressing block (94) can contact the inner wall of the dinner plate;
a group of strip-shaped bulges (931) are arranged on the binding surface of the driving block (93) and the dinner plate; the cross section of the strip-shaped protrusion (931) is semi-elliptical, the shape of the strip-shaped protrusion (931) is larger when the strip-shaped protrusion (931) is closer to the hinged position of the driving block (93), and the strip-shaped protrusion (931) is made of elastic materials;
one side of the strip-shaped protrusion (931) close to the driving block (93) is provided with a group of second V-shaped grooves (932);
when the automatic dinner plate clamping device works, after a controller (2) receives a dinner sending signal transmitted by external equipment, the double-shaft motor (5) drives the sliding blocks (7) on the two sides of the double-shaft motor (5) to be close to each other through the ball screws (6) with different rotation directions, so that the clamping jaws (9) on the sliding blocks (7) are driven to clamp a dinner plate, the elastic rubber strips (92) are extruded and deformed after contacting the outer wall of the dinner plate, the elastic rubber strips (92) are completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaws (9) reaches a set value, the double-shaft motor (5) stops rotating; the elastic rubber strip (92) is arranged at the end part of the clamping jaw (9), so that the clamping jaw (9) can be completely attached to the dinner plate, the clamping reliability is further ensured, and the dinner plates with different sizes can be clamped through elastic deformation of the elastic rubber strip (92) and the arc corner (91) at the lower end of the clamping jaw (9), so that the use range of the clamping jaw (9) is widened; meanwhile, the arc surface at the upper end of the driving block (93) is extruded by the edge of the dinner plate, so that the driving block (93) swings around the hinged position, the pressing block (94) is driven to swing simultaneously through gear tooth meshing, the dinner plate is extruded by the strip-shaped protrusions (931) on the driving block (93), the strip-shaped protrusions (931) are extruded and deformed, the dinner plate is clamped, the strip-shaped protrusions (931) which are gradually changed guarantee effective fit with the dinner plate, meanwhile, the interval between the strip-shaped protrusions (931) can guarantee a good heat dissipation effect, and the service life of the strip-shaped protrusions (931) is prolonged; the clamping process of the driving block (93) and the pressing block (94) is realized in the process that the double-shaft motor (5) drives the clamping jaws (9) to clamp the side wall of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable; after the clamping is stable, the unmanned aerial vehicle (1) is started, the dinner plate is sent to a specified position according to a specified flight route, and finally the unmanned aerial vehicle (1) is used for sending the dinner plate; when unmanned aerial vehicle (1) upwards accelerated, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle (1) upward movement produced, and when the spring rebounded, unmanned aerial vehicle's (1) bottom plate and mounting panel (4) extrusion shock attenuation cover (31) through the reaction force of shock attenuation cover (31) absorption spring, and then guaranteed that the food in the dinner plate can not unrestrained in the transportation.
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| CN112027052A (en) * | 2020-08-10 | 2020-12-04 | 曹来元 | Forest is rescued fire and is used portable investigation unmanned aerial vehicle convenient to it is folding accomodate |
| WO2022036699A1 (en) * | 2020-08-21 | 2022-02-24 | 唐山哈船科技有限公司 | Unmanned aerial vehicle fire extinguishing apparatus for sea port fire |
| CN112298536B (en) * | 2020-11-02 | 2022-02-01 | 浙江南正项目管理咨询有限公司 | Construction engineering auxiliary equipment based on unmanned aerial vehicle |
| CN112729132A (en) * | 2020-12-16 | 2021-04-30 | 贵州电网有限责任公司 | Weather-proof corrosion-resistant layer thickness measuring device for steel tower |
| CN112977830B (en) * | 2021-03-20 | 2022-11-08 | 浙江安防职业技术学院 | Unmanned aerial vehicle and transportation method thereof |
| CN113352337B (en) * | 2021-06-16 | 2022-07-15 | 井冈山大学 | Multifunctional automatic manipulator for unmanned aerial vehicle |
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